Merge pull request 'Update win_build.bat' (#55) from devrim-patch-1 into main

Reviewed-on: #55

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp

@@ -109,13 +109,6 @@ template <typename ComponentType> void AMujocoVolumeActor::AssignComponentsToArr
 	}
 }
 
-template <typename UserClass>
-void AMujocoVolumeActor::BindPostPhysicDelegate(UserClass* Object, void(UserClass::* Func)(float))
-{
-	PostPhysicUpdateDelegate.BindUObject(Object, Func);
-}
-
-
 void AMujocoVolumeActor::InitializeMujoco()
 {
 	InitializeMujocoScene_WithContactExclusion(TMap<FString, FString>{});
@@ -417,7 +410,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
 		for (int32 SimStep = 0; SimStep < SimStepsPerGameFrame; ++SimStep)
 		{
 			mj_step(MujocoModel.Get(), MujocoData.Get());
-			PostPhysicUpdateDelegate.ExecuteIfBound(MujocoData->time);
+			PostPhysicStepDelegate.ExecuteIfBound(MujocoData->time);
 		}
 
 		for (int32 i = 1; i < BodyComponents.Num(); ++i)

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h

@@ -114,7 +114,7 @@ public:
 	// ------- POST UPDATE -------
 	// ---------------------------
 private:
-	FPostPhysicUpdate PostPhysicUpdateDelegate;
+	FPostPhysicUpdate PostPhysicStepDelegate;
 public:	
 	/**
 	 * Register a delegate to be executed after mj_step, useful to fine control actuators 
@@ -122,7 +122,10 @@ public:
 	 * @param Func - The Function to call - takes a float as parameter which is the current simulation timestamp
 	 */
 	template<typename UserClass>
-	void BindPostPhysicDelegate(UserClass* Object, void (UserClass::*Func)(float));
+	void BindPostPhysicStepDelegate(UserClass* Object, void (UserClass::*Func)(float))
+	{
+		PostPhysicStepDelegate.BindUObject(Object, Func);
+	}
 	
 
 	// -------------------------

win_build.bat

@@ -6,6 +6,38 @@ set "UE_PATH=C:\Program Files\UE_5.5"
 set "PROJECT_PATH=%~dp0"
 set "UAT_PATH=%UE_PATH%\Engine\Build\BatchFiles\RunUAT.bat"
 
+
+:: Check if MuJoCo DLL exists in bin directory
+if not exist "%MUJOCO_BIN_PATH%\mujoco.dll" (
+    echo Error: MuJoCo DLL not found at %MUJOCO_BIN_PATH%\mujoco.dll
+    echo Please ensure the MuJoCo DLL is properly built and placed in the correct location.
+    pause
+    exit /b 1
+)
+
+:: Copy MuJoCo DLL to the plugin binaries directory if it doesn't exist there
+if not exist "%MUJOCO_DLL_PATH%\mujoco.dll" (
+    echo Copying MuJoCo DLL to plugin binaries directory...
+    copy "%MUJOCO_BIN_PATH%\mujoco.dll" "%MUJOCO_DLL_PATH%\"
+    if errorlevel 1 (
+        echo Failed to copy MuJoCo DLL
+        pause
+        exit /b 1
+    )
+)
+
+:: Add UE and MuJoCo paths to PATH environment variable
+set "PATH=%UE_PATH%\Engine\Binaries\Win64;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%;%PATH%"
+
+:: Set the DLL search path for the current process
+set "PATH=%PATH%;%MUJOCO_DLL_PATH%;%MUJOCO_BIN_PATH%"
+
+:: Run the Unreal Editor
+:: echo Starting Unreal Editor...
+:: start "" "%UE_PATH%\Engine\Binaries\Win64\UnrealEditor.exe" "%PROJECT_PATH%LuckyWorldV2.uproject"
+
+endlocal 
+
 :: Build and package command
 "%UAT_PATH%" ^
     -ScriptsForProject="%PROJECT_PATH%LuckyWorldV2.uproject" ^